Based on the features of the output one-pulse-per-second (1PPS) signal of the Global Positioning System (GPS) receiver

and the characteristics of the output frequency signal of the Coherent Population Trapping (CPT) atomic clock

we design and realize a GPS-disciplined CPT atomic clock device.For depressing jitter noise of the 1 PPS signal

we have established the corresponding Kalman filter mathematics model

obtained the noise parameters through theoretical calculation.We have experimentally filter processed the frequency signal of CPT atomic clock with a combination of the Averaging filter and Kalman filter

and calibrated the output frequency of CPT atomic clock with the 1PPS signal

and achieved that reducing the medium and short term frequency error by half magnitude and improving day frequency stability by one order of magnitude.